4 papers
Advancing Frontiers of Path Integral Theory for Stochastic Optimal Control
Apurva Patil
Stochastic Optimal Control (SOC) problems arise in systems influenced by uncertainty, such as autonomous robots or financial models. Traditional methods like dynamic programming ar…
Path Integral Methods for Synthesizing and Preventing Stealthy Attacks in Nonlinear Cyber-Physical Systems
Apurva Patil, Kyle Morgenstein, Luis Sentis +1
This paper studies the synthesis and mitigation of stealthy attacks in nonlinear cyber-physical systems (CPS). To quantify stealthiness, we employ the Kullback-Leibler (KL) diverge…
Task Hierarchical Control via Null-Space Projection and Path Integral Approach
Apurva Patil, Riku Funada, Takashi Tanaka +1
This paper addresses the problem of hierarchical task control, where a robotic system must perform multiple subtasks with varying levels of priority. A commonly used approach for h…
Achieving multi uav best viewpoint coordination in obstructed environments
Mirko Baglioni, Apurva Patil, Luis Sentis +1
Wildfire suppression is a complex task that poses high risks to humans. Using robotic teams for wildfire suppression enhances the safety and efficiency of detecting, monitoring, an…